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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

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Layered mode selection logic control with fuzzy sensor fusion network

Layered mode selection logic control with fuzzy sensor fusio...

引用

conference on Unmanned Systems Technology IX

作者： Born, Traig Wright, Andrew Hendrix Coll Dept Phys 1600 Washington Ave Conway AR 72032 USA Univ Arkansas Dept Appl Sci Little Rock AR 72204 USA

ISBN: (纸本)9780819466839

Robots developed from the 60's to the present have been restricted to highly structured environments such as work cells or automated guided vehicles, primarily to avoid harmful interactions with humans. Next generation robots must function in unstructured environments. Such robots must be fault tolerant to sensor and manipulator failures, scalable in number of agents, and adaptable to different robotic base platforms. The Central Arkansas robotics Consortium has developed a robot controller architecture, called Layered Mode Selection Logic (LMSL), which addresses all of these concerns. The LMSL architecture is an implementation of a behavior based controller fused with a planner. The architecture creates an abstraction layer for the robot sensors through a Fuzzy sensor fusion Network (FSFN), and it creates an abstraction layer for the robot manipulators through a reactive layer. The LMSL architecture has been implemented and tested on UALR's J5 robotics research platform. A FSFN combines acceleration and force signals for collision detection. The output of the FSFN switches among low level behaviors to accomplish obstacle avoidance and obstacle manipulation. Comparable results are achieved with all sensors functioning, with only the acceleration sensor (force sensor faulted), and with only the force sensor (acceleration sensor faulted).

关键词： mode selection logic fuzzy logic sensor fusion fault tolerance

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Aggregation in multiagent systems and the problem of truth-tracking 07

Aggregation in multiagent systems and the problem of truth-t...

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6th International Joint conference on Autonomous agents and Multiagent Systems, AAMAS'07

作者： Pigozzi, Gabriella Hartmann, Stephan University of Luxembourg L-1359 Luxembourg Luxembourg Department of Philosophy London School of Economics London WC2A 2AE United Kingdom

ISBN: (纸本)9788190426275

One of the major problems that artificial intelligence needs to tackle is the combination of different and potentially conflicting sources of information. Examples are multi-sensor fusion, database integration and expert systems development. In this paper we are interested in the aggregation of propositional logic-based information, a problem recently addressed in the literature on information fusion. It has applications in multiagent systems that aim at aggregating the distributed agent-based knowledge into an (ideally) unique set of propositions. We consider a group of autonomous agents who individually hold a logically consistent set of propositions. Each set of propositions represents an agent's beliefs on issues on which the group has to make a collective decision. To make the collective decision, several aggregation procedures have been proposed in the literature. Assuming that all propositions in question are factually right or wrong, we ask how good belief fusion is as a truth tracker. Will it single out the true set of propositions? And how does information fusion compare with other aggregation procedures? We address these questions in a probabilistic framework and show that information fusion does especially well for agents with a middling competence of hitting the truth of an individual proposition. © 2007 IFAAMAS.

关键词： Information fusion

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Electro-acoustic and acousto-optic communications for robotic agents in smart structures

Electro-acoustic and acousto-optic communications for roboti...

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conference on Smart Structures, Devices, and Systems III

作者： Wild, Graham Hinckley, Steven Edith Cowan Univ Phys Res Grp 100 Joondalup Dr Joondalup WA 6027 Australia

ISBN: (纸本)9780819465221

Electro-Acoustic and Acousto-Optic communications channels have been investigated. The communications channels are intended for use by robotic agents in the Non-Destructive Evaluation (NDE) of structures containing distributed Acoustic Emission (AE) sensors. The AE sensors can be either piezoelectric or optical fibre sensors. The communications channel comprises of a piezoelectric transducer as the transmitter, an aluminium panel as the transmission medium, and either a second piezoelectric transducer or a fibre optics sensor as the receiver. The electro-acoustic communications channel uses the piezoelectric transducers as the transmitter and the receiver. The acousto-optic communications channel uses a piezoelectric transducer as the transmitter, and a fibre optic sensor as the receiver. Acoustic communications represents a wireless communications method that does not require any additional hardware, as piezoelectric transducers are commonly used in the NDE of materials. Phase Shift Keying (PSK) was used for the communications encoding. Successful communications was achieved using both the piezoelectric and fibre optic receivers. The fibre optic sensor used was a Fibre Bragg Grating (FBG), and the piezoelectric transducers were Lead Zirconate Titanate (PZT) piezoceramic disc transducers. The electro-acoustic communications channel gave a data rate of 200kbps with a 1MHz square wave carrier. The acousto-optic communications channel gave a data rate of 6.3568kbps with a 635.68kHz carrier wave.

关键词： acoustic emission fibre optic sensing piezoelectric transducers structural health monitoring wireless communications

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A multi-modal architecture for intelligent decision making in cars

引用

4th International conference on Universal Access in Human-Computer Interaction held at the HCI International 2007

作者： Hussain, Qamir Jonsson, Ing-Marie QHC Consulting Ltd Dublin Ireland Ansima Inc Los Gatos CA USA

ISBN: (纸本)9783540732808

This paper describes a software architecture named "Gatos" engineered for intelligent decision making. The architecture is built on a distributed multi-agent system cougaar. Gatos provides a solution for sensor fusion. We propose using multiple sensors to monitor driver status, driving performance, and the driving environment in order to address bad driving behavior. Our approach for a Driving Monitor is based on both monitoring and regulating driver behavior. The system is designed to intervene and to interact with the driver in real time (if possible) to regulate their behavior and promote safe driving. A prototype is implemented using a driving simulator, but infrastructure buildup and new in-vehicle technologies make this a feasible solution for vehicles on the road.

关键词： software agents distributed computing multi-agent parallel computing driving simulator driving behavior driver status driver monitoring

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Layered mode selection logic control for border security

Layered mode selection logic control for border security

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conference on Unattended Ground, Sea, and Air sensor Technologies and Applications IX

作者： Born, T. Ferrer, G. Wright, A. M. Wright, A. B. Hendrix Coll Dept Phys 1600 Washington Ave Conway AR 72032 USA Univ Arkansas Little Rock Dept Appl Sci Little Rock AR 72204 USA

ISBN: (纸本)9780819466846

Challenges in border security may be resolved through a team of autonomous mobile robots configured as a flexible sensor array. The robots will have a prearranged formation along a section of a border, and each robot will attempt to maintain a uniform distance with its nearest neighbors. The robots will carry sensor packages which can detect a signature that is representative of a human (for instance, a thermal signature). When a robot detects an intruder, it will move away such that it attempts to maintain a constant distance from the intruder and move away from the border (i.e. into its home territory). As the robot moves away from the border, its neighbors will move away from the border to maintain a uniform distance with the moving robot and with their fixed neighbors. The pattern of motion in the team of robots can be identified, either algorithmically by a computer or by a human monitor of a display. Unique patterns are indicative of animal movement, human movement, and mass human movement. To realize such a scheme, a new control architecture must be developed. This architecture must be fault tolerant to sensor and manipulator failures, scalable in number of agents, and adaptable to different robotic base platforms (for instance, a UGV may be appropriate at the southern border and a UAV may be appropriate at the northern border). The Central Arkansas robotics Consortium has developed an architecture, called Layered Mode Selection Logic (LMSL), which addresses all of these concerns. The overall LMSL scheme as applied to a multi-agent flexible sensor array is described in this paper.

关键词： mode selection logic fuzzy sensor fusion network border security

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distributed gradient ascent of random fields by robotic sensor networks

Distributed gradient ascent of random fields by robotic sens...

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Proceedings of the 46th IEEE conference on Decision and Control, Pages 2759-3219

作者： Jorge Cortes Department of Mechanical and Aerospace Engineering University of California San Diego USA

ISBN: (纸本)9781424414970;1424414970

This paper considers a robotic sensor network, deployed in an environment of interest, that takes successive measurements of a spatial random field. Taking a Bayesian perspective on the kriging interpolation technique from geostatistics, we design the distributed KRIGING ALGORITHM to estimate the distribution of the random field and of its gradient. The proposed algorithm makes use of a novel distributed strategy to compute weighted least squares estimates when measurements are spatially correlated. This strategy results from the combination of the Jacobi overrelaxation method with dynamic consensus algorithms. The network agents use the information gained on the spatial field to implement a gradient ascent coordination algorithm, whose convergence is analyzed via stochastic Lyapunov functions in the absence of measurement errors. We illustrate our results in simulation.

关键词： sensor networks ascent coordination algorithm Kriging interpolation Fields algorithms Random Error measure geostatistics Distribute Kriging NETWORKING AGENT

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Target assignment for robotic networks: Worst-case and stochastic performance in dense environments

Target assignment for robotic networks: Worst-case and stoch...

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Proceedings of the 46th IEEE conference on Decision and Control, Pages 2301-2758

作者： Stephen L. Smith Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

Consider an equal number of mobile robotic agents and distinct target locations dispersed in an environment. Each agent has a limited communication range and knowledge of every target's position. We study the following target assignment problem: design a distributed algorithm with which the agents divide the targets among themselves and, simultaneously, move to their unique target. This paper focuses on "dense" environments, where the sum of the communication footprints is larger than the area of the environment. We introduce the class of monotonic algorithms, whose worst-case completion time is lower bounded by the area of the environment. We propose a monotonic algorithm called GRID ASSGMT and characterize its asymptotic performance: First, the algorithm is an asymptotically optimal monotonic algorithm for worst-case initial conditions. Second, for uniformly randomly distributed agents and targets the completion time is upper bounded by the diameter of the environment with high probability. Third, if the number of agents exceeds the number of targets by a logarithmic factor, then the completion time is constant with high probability. Our algorithm also solves a sensor based target assignment problem where agents have no initial knowledge of target positions, but acquire them via limited range sensing.

关键词： Completion time Targets Environments agents communication range algorithms Monotonic distributed algorithms Dense

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distributed collaboration foundation

Distributed collaboration foundation

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International conference on Information fusion

作者： Donald Snyder Information & Cyberwarfare Technology Center Northrop Grumman Corporation Fort Wayne IN USA

ISBN: (纸本)9780662478300;0662478304

The formalization of network centric warfare (NCW) signaled a new Department of Defense drive towards systems that could conceivably interact towards the accomplishment of a common goal. But the debate regarding NCW possibilities and practicalities in terms of existing and potential technologies highlight that much work is needed before the theortical NCW can be realized. The Information and Cyberwarfare Technology Center (ICTC) initiated the distributed sensor Web (DSW) independent research and development project to provide the war fighter with more realtime and accurate situational awarenessin today's dynamic, fast-paced operational environment. To facilitate the proposed degree of autonomous collaboration the distributed Collaboration Foundation (DCF) was developed to enable large and small scale federation autonomous collaboration and adapation. Existing distributed approaches based on intelligent software agents and service-oriented architectures (SOA) provide reasonable foundations for distribution and operation of software components along with data exchanges but they do not provide a mechanism that supports component interaction in terms of decision making towards accomplishment of a common goal or adaptation. The DCF uses belief network models to represent the known and "uncertain" aspects of mission operational criteria and the respective operational environment.

关键词： Collaboration Intelligent agent Service oriented architecture Drives Collaborative work Large-scale systems Intelligent sensors Software agents Intelligent robots Hardware

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distributed Cooperative Active Sensing Using Consensus Filters

Distributed Cooperative Active Sensing Using Consensus Filte...

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IEEE International conference on robotics and Automation (ICRA)

作者： Peng Yang Randy A. Freeman Kevin M. Lynch Northwestern University Evanston IL USA

We consider the problem of multiple mobile sensor agents tracking the position of one or more moving targets. In our formulation, each agent maintains a target estimate, and each agent moves so as to maximize the expected information from its sensor, relative to the current uncertainty in the estimate. The novelty of our approach is that each agent need only communicate with one-hop neighbors in a communication network, resulting in a fully distributed and scalable algorithm, yet the performance of the system approximates that of a centralized optimal solution to the same problem. We provide two fully distributed algorithms based on one-time measurements and a Kalman filter approach, and we validate the algorithms with simulations.

关键词： Target tracking sensor fusion Motion control Communication system control Motion estimation Uncertainty Communication networks Fuses Covariance matrix Mechanical sensors

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Dynamic Area Coverage using Faulty Multi-Agent Swarms 07

Dynamic Area Coverage using Faulty Multi-Agent Swarms

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IEEE/WIC/ACM International conference on Intelligent Agent Technology (IAT)

作者： Ke Cheng Prithviraj Dasgupta Computer Science Department University of Nebraska Omaha NE USA

ISBN: (纸本)9780769530277

We consider the problem of distributed coverage of an unknown two-dimensional environment using a swarm of mobile mini-robots. In contrast to previous approaches for robotic area coverage, we assume that each robot (agent) in our system is limited in its communication range and memory capacity. agents are also susceptible to sensor noise while communicating with other agents, and, can be subject to transient or permanent failures. The objective of the agents is to cover the entire environment while reducing the coverage time and the redundancy in the area covered by different agents. First, we describe our distributed coverage algorithm where each agent uses a local heuristic based on Manhattan distances and the information gained from other agents at each step to decide on its next action (movement). We then describe and analyze the fault model of our agents and show that the local heuristic used by the agents deteriorate linearly as the communication noise increases. Finally, we verify the performance of our system empirically within a simulated environment and show that the system is able to scale efficiently in the number of robots and size of the environment, and, determine the effect of communication faults and robot failures on the system performance.

关键词： Robot sensing systems Working environment noise Redundancy System performance Orbital robotics Multiagent systems sensor systems Intelligent agent Computer science USA Councils

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